Rehabilitation training apparatus

ABSTRACT

Disclosed is a rehabilitation training apparatus including a pair of first tracks that are arranged in parallel at an interval, a second track that is perpendicular to the pair of first tracks and is movably connected to the pair of first tracks, a hand holder that is movably provided in the second track and on which a hand of the user is held, a holder driving unit that reciprocally moves the hand holder along the second track, and a track driving unit that reciprocally moves the second track along the pair of first tracks.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of International PatentApplication No. PCT/KR2016/011556, filed on Oct. 14, 2016, which isbased upon and claims the benefit of priority to Korean PatentApplication Nos. 10-2016-0065439, filed on May 27, 2016 and10-2016-0078444, filed on Jun. 23, 2016. The disclosures of theabove-listed applications are hereby incorporated by reference herein intheir entirety.

BACKGROUND

Embodiments of the inventive concept described herein relate to arehabilitation training apparatus, and more particularly to arehabilitation training apparatus by which rehabilitation training ofthe joints of a wrist and a shoulder of the user can be performed.

In general, the joints of the human body are configured such thatadjacent parts of the joints may be rotated about the joints.

Meanwhile, the aged persons or the patients with disability, whosemuscular forces are weak, have difficulties in exercising their jointsas compared with healthy persons, and it is substantially difficult toexercise with general sports equipment in spite of the needs ofexercises.

In particular, because the patients who had surgical operations on thewrists and shoulders cannot exercise by themselves, the joints of thewrists and the shoulders may be stiff and hardened due to the wealmuscles and insufficient supply of nutrients.

Accordingly, long-term rehabilitation training is necessary to preventdeformation of the joints and allow the patients to return to normalactivities.

Meanwhile, most of the conventional rehabilitation apparatuses have onlya function of constraining the angles of the joints of the wrists andthe shoulders of the user to prevent excessive exercises.

Accordingly, studies on the rehabilitation training apparatusesconfigured to change the angles of the joints with actuators have beenmade.

Therefore, the applicant has developed a rehabilitation trainingapparatus by which rehabilitation training of the joints of the wristsand the shoulders can be made while a hand of the user is held.

SUMMARY

Embodiments of the inventive concept provide a rehabilitation trainingapparatus by which rehabilitation training may be performed by moving ahand holder in which a hand of the user is held according tocharacteristics of the user in various patterns and changing the anglesof the joints of a wrist and a shoulder of the user.

Embodiments of the inventive concept also provide a rehabilitationtraining apparatus by which rehabilitation training may be performed bymoving a hand holder in a desired direction by using fine muscularforces and changing the angles of the joints of a wrist and a shoulderof the user.

In accordance with an aspect of the inventive concept, there is provideda rehabilitation training apparatus including a pair of first tracksthat are arranged in parallel at an interval, a second track that isperpendicular to the pair of first tracks and is movably connected tothe pair of first tracks, a hand holder that is movably provided in thesecond track and on which a hand of the user is held, a holder drivingunit that reciprocally moves the hand holder along the second track, anda track driving unit that reciprocally moves the second track along thepair of first tracks.

Here, the rehabilitation training apparatus may further include acontrol unit that controls driving of the holder driving unit and thetrack driving unit such that the hand holder is moved along a planedefined by the pair of first tracks and the second track.

The rehabilitation training apparatus may further include a patternrecognizing unit that recognizes coordinate data for a printing patternthat is provided on a printout provided on the plane defined by the pairof first tracks and the second track, and the control unit may controlthe driving of the holder driving unit and the track driving unit suchthat the hand holder is moved, based on the coordinate data for theprinting pattern recognized by the pattern recognizing unit.

The rehabilitation training apparatus may further include a memory inwhich plane coordinate data and movement speed data for a movementpattern, in which the hand holder is to be moved, are stored, and thecontrol unit may control the driving of the holder driving unit and thetrack driving unit, based on the coordinate data and the movement speeddata for the movement pattern received through the memory, prior to thecoordinate data for the printing pattern received from the patternrecognizing unit.

Further, the rehabilitation training apparatus may further include acommunication module that receives plane coordinate data and movementspeed data for a movement pattern, in which the hand holder is to bemoved, from an external device, and the control unit may control thedriving of the holder driving unit and the track driving unit, based onthe coordinate data and the movement speed data for the movement patternreceived through the communication module, prior to the coordinate datafor the printing pattern received from the pattern recognizing unit.

The holder driving unit may include a guide rail for a holder that isarranged along the second track, a guide block for a holder that isconnected to the hand holder to be reciprocally moved along the guiderail for a holder, a rack for a holder that has a plurality of gearteeth along a lengthwise direction of the guide rail for a holder, apinion for a holder that is engaged with the rack for a holder to berotated, a motor for a holder that generates a rotational force in thepinion for a holder, a clutch for a holder that engages or disengagespower transmitted from the motor for a holder to the pinion for aholder, and a housing for a holder that accommodates the pinion for aholder, the motor for a holder, and the clutch for a holder and supportsthe hand holder.

Further, the holder driving unit may further include a powertransmission unit for a holder that is provided between the motor for aholder and the pinion for a holder to transmit the power of the motorfor a holder to the pinion for a holder.

The track driving unit may include a guide rail for a track that isarranged along one of the pair of first tracks, a guide block for atrack, to which the second track is connected and which is reciprocallymoved along the guide rail for a track, a rack for a track that has aplurality of gear teeth along a lengthwise direction of the guide railfor a track, a pinion for a track that is engaged with the rack for atrack to be rotated, a motor for a track that generates a rotationalforce in the pinion for a track, a clutch for a track that engages ordisengages power transmitted from the motor for a track to the pinionfor a track, and a housing for a track that accommodates the pinion fora track, the motor for a track, and the clutch for a track and supportsthe guide block for a track.

The track driving unit may further include a power transmission unit fora track that is provided between the motor for a track and the pinionfor a track to transmit the power of the motor for a track to the pinionfor a track.

The pattern recognizing unit may be an optical recognition sensor or aphoto sensor.

BRIEF DESCRIPTION OF THE FIGURES

The above and other objects and features will become apparent from thefollowing description with reference to the following figures, whereinlike reference numerals refer to like parts throughout the variousfigures unless otherwise specified, and wherein:

FIG. 1 is a perspective view of a rehabilitation training apparatusaccording to an embodiment of the inventive concept;

FIG. 2 is an exploded perspective view of FIG. 1;

FIG. 3 is a partially enlarged perspective view of a holder driving unitof FIG. 1;

FIG. 4 is a view illustrating a power transmission system of the holderdriving unit of FIG. 3;

FIG. 5 is a partially enlarged perspective view of a track driving unitof FIG. 1; and

FIG. 6 is a view illustrating a power transmission system of the trackdriving unit of FIG. 5.

DETAILED DESCRIPTION

Hereinafter, the inventive concept will be described in detail withreference to the accompanying drawings.

FIGS. 1 to 6 illustrate a rehabilitation training apparatus according toan embodiment of the inventive concept.

As illustrated in the drawings, the rehabilitation training apparatus 10according to the embodiment of the inventive concept include a pair offirst tracks 11 a and 11 b, a second track 31, a hand holder 35, aholder driving unit 41, and a track driving unit 71.

The pair of first tracks 11 a and 11 b have a bar shape having aspecific length, and are arranged in parallel at a specific interval. Afirst track groove 13 is formed along a lengthwise direction of thefirst track 11 a and 11 b of an upper surface of each of the firsttracks 11 a and 11 b.

A table holder 15 for seating the rehabilitation training apparatus 10according to the embodiment of the inventive concept on a table isprovided at one end of each of the pair of first tracks 11 a and 11 b.

A hinge pin coupling recess 17, to which a hinge pin 21 is coupled, isformed at an opposite end of each of the pair of first tracks 11 a and11 b. The hinge pin 21 is rotatably coupled to the hinge pin couplingrecess 17 of each of the first tracks 11 a and 11 b and is coupled to aconnecting bracket 23. Accordingly, the connecting brackets 23 areinterconnected to the pair of first tracks 11 a and 11 b by the hingepins 21, respectively, and are relatively rotatable with respect to thepair of first tracks 11 a and 11 b such that the pair of first tracks 11a and 11 b get closer to or far away from each other.

According to the rehabilitation training apparatus according to theembodiment of the inventive concept, the user may perform rehabilitationtraining of joints of a wrist and a shoulder after the pair of firsttracks 11 a and 11 b and the connecting bracket 23 are simply deployed,and the user may conveniently carry the rehabilitation trainingapparatus and easily preserve the rehabilitation training apparatuswhile simply folding the pair of first tracks 11 a and 11 b and theconnecting bracket 23 after the rehabilitation training.

The second track 31 has a bar shape having a specific length, isperpendicular to the pair of first tracks 11 a and 11 b, and is movablyconnected to the pair of first tracks 11 a and 11 b. A second trackgroove 33 is formed on an upper surface of the second track 31 along alengthwise direction of the second track 31.

Here, the pair of first tracks 11 a and 11 b and the second track 31 aretelescopically coupled along the lengthwise directions thereof, and forexample, the tracks 11 a, 11 b, and 31 are retractably manufactured sothat the lengths thereof may be adjusted to be extended or contracted.

The hand holder 35 is movably provided in the second track 31, and ahand of the user is held on the hand holder 35. The hand holder 35 mayfurther include a grip 37 that is provided on one side of an upperportion thereof to be gripped by a hand. Further, the hand holder 35further includes a support bracket 39 that is provided at a lowerportion thereof to support a guide block 45 for a holder. The supportbracket 39 is supported by a housing 67 for a holder arranged on oneside of the second track 31, which will be described below.

The holder driving unit 41 reciprocates the hand holder 35 along thesecond track 31. As illustrated in FIGS. 3 and 4, the holder drivingunit 41 includes a guide 43 for a holder that is arranged along thesecond track 31, a guide block 45 for a holder that is connected to thehand holder 35 to be reciprocally moved along the guide 43 for a holder,a rack 47 for a holder that has a plurality of gear teeth along alengthwise direction of the guide 43 for a holder, a pinion 49 for aholder that is engaged with the rack 47 for a holder to be rotated, amotor 51 for a holder that generates a rotational force in the pinion 49for a holder, a power transmission unit that is provided between themotor 51 for a holder and the pinion 49 for a holder to transmit powerto the motor 51 for a holder, a clutch 65 for a holder that engages ordisengages the power transmitted from the power transmission unit to thepinion 49 for a holder, and a housing 67 for a holder that supports thehand holder 35.

The guide 43 for a holder secures a movement space of the guide block 45for a holder, and is accommodated in and coupled to the interior of thesecond track 31.

The guide block 45 for a holder is reciprocally coupled to the guide 43for a holder. One side of the guide block 45 for a holder protrudes fromthe second track groove 33 of the second track 31 and is supported bythe bottom of the support bracket 39 of the hand holder 35.

The pinion 49 for a holder is coupled to a pinion shaft 50 for a holder,and the pinion shaft 50 for a holder is rotatably supported by thehousing 67 for a holder.

Meanwhile, in the embodiment, the power transmission unit for a holderincludes a first gear 55 for a holder that is coupled to a shaft of themotor 51 for a holder, a second gear 59 for a holder that is engagedwith the first gear 55 for a holder to be rotated and is coupled to apower transmission shaft 57 for a holder, a third gear 61 for a holderthat is engaged with the second gear 59 for a holder to be rotated andis coupled to one end of the clutch 65 for a holder, and a fourth gear63 for a holder that is coupled to an opposite end of the clutch 65 fora holder to be opposite to the third gear 61 for a holder while theclutch 65 for a holder being interposed therebetween and is engaged withthe pinion 49 for a holder to be rotated.

The housing 67 for a holder has a structure that may be verticallyseparated, and accommodates the motor 51 for a holder, the powertransmission unit for a holder, and the clutch 65 for a holder such thatthe motor 51 for a holder, the power transmission unit for a holder, andthe clutch 65 for a holder are not exposed to the outside. Further, onone side of the housing 67 for a holder, the support bracket 39 of thehand holder 35 is supported by a coupling unit (not illustrated).

Here, although not illustrated, as another embodiment, the holderdriving unit 41 does not include a power transmission unit for a holder,and the clutch 65 for a holder is interposed between the motor 51 for aholder and the pinion 49 for a holder such that power of the motor 51for a holder may be selectively transmitted to the pinion 49 for aholder via the clutch 65 for a holder or may not be transmitted to thepinion 49 for a holder.

The track driving unit 71 reciprocally moves the second track 31 alongthe first tracks 11 a and 11 b.

As illustrated in FIGS. 5 and 6, the track driving unit 71 includes aguide 73 for a track that is arranged along one 11 a of the first tracks11 a and 11 b, a guide block 75 for a track to which the second track 31is connected and which is reciprocally moved along the guide 73 for atrack, a rack 77 for a track that has a plurality of gear teeth along alengthwise direction of the guide 73 for a track, a pinion 79 for atrack that is engaged with the rack 77 for a track to be rotated, amotor 81 for a track that generates a rotational force in the pinion 79for a track, a power transmission unit for a track that is providedbetween the motor 81 for a track and the pinion 79 to transmit power ofthe motor 81 of a track, a clutch 95 for a track that engages ordisengages the power transmitted from the power transmission unit for atrack to the pinion 79 for a track, and a housing 97 for a track thatsupports the guide block 75 for a track.

The guide 73 for a track secures a movement space of the guide block 75for a track, and is accommodated in and coupled to the interior of thefirst track 11 a.

The guide block 75 for a track is reciprocally coupled to the guide 73for a track. One side of the guide block 75 for a track protrudes fromthe first track groove 13 of the first track 11 a, and is supported bythe bottom of the second track 31.

The pinion 79 for a track is coupled to a pinion shaft 80 for a track,and the pinion shaft 80 for a track is rotatably supported by thehousing 97 for a track.

Meanwhile, in the embodiment, the power transmission unit for a trackincludes a first gear 85 for a track that is coupled to a shaft of themotor 81 for a track, a second gear 89 for a track that is engaged withthe first gear 85 for a track to be rotated and is coupled to a powertransmission shaft 87 for a track, a third gear 91 for a track that isengaged with the second gear 89 for a track to be rotated and is coupledto one end of the clutch 95 for a track, and a fourth gear 93 for atrack that is coupled to an opposite end of the clutch 95 for a track tobe opposite to the third gear 91 for a track while the clutch 95 for atrack being interposed therebetween and is engaged with the pinion 79for a track to be rotated.

The housing 97 for a track has a structure that may be verticallyseparated, and accommodates the motor 81 for a track, the powertransmission unit for a track, and the clutch 95 for a track such thatthe motor 51 for a track, the power transmission unit for a track, andthe clutch 65 for a track are not exposed to the outside. Further, onone side of the housing 97 for a track, the guide block 75 for a trackis supported by a coupling unit (not illustrated).

Here, although not illustrated, as another embodiment, the track drivingunit 71 does not include a power transmission unit for a track, and theclutch 95 for a track is interposed between the motor 81 for a track andthe pinion 79 for a track such that power of the motor 81 for a trackmay be selectively transmitted to the pinion 79 for a track via theclutch 95 for a track or may not be transmitted to the pinion 79 for atrack.

Further, the rehabilitation training apparatus 10 according to theembodiment of the inventive concept includes a control unit 101 thatcontrols driving of the holder driving unit 41 and the track drivingunit 71 such that the hand holder 35 is moved along a plane defined bythe pair of first tracks 11 a and 11 b and the second track 31.

The control unit 101 is received in the housing 67 for a holder andcontrols rotational speeds and a rotational directions of the motor 51for a holder and the motor 81 for a track to change a movement directionand a speed of the hand holder 35, based on coordinate data and movementspeed data for a pattern that is set in advance along a plane defined bythe pair of first tracks 11 a and 11 b and the second track 31. Forexample, if the control unit 101 controls the rotational speeds of themotor 51 for a holder and the motor 81 for a track differently, the handholder 35 is moved linearly, in a curved manner, or while freely drawinga curve.

Here, the control unit 101 may not be received in the housing 67 for aholder but may be received in the housing 97 for a track.

Meanwhile, reference numeral 99 that has not been described denotes acoupling bolt that couples the second track 31 and the guide block 75for a track. Further, reference numeral 121 that has not been describeddenotes a battery for supplying electric power to the rehabilitationtraining apparatus 10 according to the embodiment of the inventiveconcept.

According to the configuration, the rehabilitation training apparatus 10according to the embodiment of the inventive concept may be operated inan automatic mode such that an arm of the patient is moved along aspecific path by driving of the motors 51 and 81 of the holder drivingunit 41 and the track driving unit 71 and may be operated in a manualmode such that an arm of the patient is moved along a specific path by aforce of the user.

First, a case in which the rehabilitation training apparatus 10 isoperated in a manual mode will be described below.

After a hand and an arm of the user is held on the hand holder 35, theangle of the joints of a wrist and a shoulder of the user may be changedfor rehabilitation training, by applying a force to freely move the handholder 35 along arrangement directions of the first tracks 11 a and 11 band an arrangement direction of the second track 31, for example, movingthe hand holder 35 in a desired direction by using a fine muscular forceof the user. Then, the clutch 65 for a holder of the holder driving unit41 disengages transmission of power so that the power of the motor 51for a holder is not transmitted to the pinion 49 for a holder. At thesame time, the clutch 95 for a track of the track driving unit 71disengages transmission of power so that the power of the motor 81 for atrack is not transmitted to the pinion 79 for a track.

Next, a case in which the rehabilitation training apparatus 10 isoperated in an automatic mode will be described below.

The control unit 101 drives the holder driving unit 41 and the trackdriving unit 71 such that the hand holder 35 is moved along the planedefined by the pair of first tracks 11 a and 11 b and the second track31.

That is, if the clutch 65 for a holder is switched to a powertransmission state by a control signal of the control unit 101 and themotor 51 for a holder is forwardly rotated by applying an electricvoltage to the motor 51 for a holder such that the power of the motor 51for a holder is transmitted to the pinion 49 for a holder, the power ofthe motor 51 for a holder is transmitted to the first gear 55 for aholder, the second gear 59 for a holder, the third gear 61 for a holder,the fourth gear 63 for a holder, and the pinion 49 for a holder.Accordingly, the pinion 49 for a holder is reciprocally moved along therack 47 for a holder and the housing 67 for a holder is reciprocallymoved along the second track 31 at the same time, and the hand holder 35connected to the housing 67 for a holder and the guide block 45 for aholder is guided by the guide 43 for a holder and is reciprocally movedalong the second track 31.

At the same time, if the clutch 95 for a track is switched to a powertransmission state by a control signal of the control unit 101 and themotor 81 for a track is forwardly rotated by applying an electricvoltage to the motor 81 for a track such that the power of the motor 81for a track is transmitted to the pinion 79 for a track, the power ofthe motor 81 for a track is transmitted to the first gear 85 for atrack, the second gear 89 for a track, the third gear 91 for a track,the clutch 95 for a track, the fourth gear 93 for a track, and thepinion 79 for a track. Accordingly, the pinion 79 for a track islinearly reciprocally moved along the rack 77 for a track and thehousing 97 for a track is reciprocally moved along one 11 a of the firsttracks 11 a and 11 b at the same time, and the guide block 45 for atrack connected to the housing 97 for a track is guided by the guide 73for a track and is reciprocally moved along the first track 11 a.Accordingly, the second track 31 supported by the guide block 75 for atrack is also reciprocally moved along the first tracks 11 a and 11 b.

Accordingly, the hand of the user held by the hand holder 35 is moved bya control signal of the control unit 101 while forming various patternsalong the plane defined by the pair of first tracks 11 a and 11 b andthe second track 31, on the plane defined by the pair of first tracks 11a and 11 b and the second track 31, so that rehabilitation training maybe performed while the angles of the joints of a wrist and a shoulder ofthe user is changed.

Here, the control unit 101 may switch the clutch 65 for a holder to apower transmission state such that the power of the motor 51 for aholder is transmitted to the pinion 49 for a holder, switch the clutch95 for a track to a power interruption state such that the power of themotor 81 for a track is not transmitted to the pinion 79 for a track,and reciprocally move the hand holder 35 only in the direction of thesecond track, thereby allowing the user to perform rehabilitationtraining for the joints of the wrists and a shoulder of the user.

Meanwhile, the rehabilitation training apparatus 10 according to theembodiment of the inventive concept may further include a patternrecognizing unit 105 that is provided in the hand holder 35 to recognizecoordinate data for a printing pattern printed in a printout provided onthe plane defined by the pair of first tracks 11 a and 11 b and thesecond track 31. The pattern recognizing unit 105 may be an opticalrecognition sensor or a photo sensor. Although it is illustrated in theembodiment that the pattern recognizing unit 105 is provided in thehousing 67 for a holder, the inventive concept is not limited theretoand the pattern recognizing unit 105 may be provided in the second track31.

In this way, when the pattern recognizing unit 105 is provided, thecontrol unit 101 may control driving of the holder driving unit 41 andthe track driving unit 71 such that the hand holder 35 is moved, basedon the coordinate data for the printing pattern recognized by thepattern recognizing unit 105.

Further, the rehabilitation training unit 10 according to the embodimentof the inventive concept may further include a memory that is providedin the housing 67 for a hand holder and in which plane coordinate dataand movement speed data for the movement pattern, in which the handholder 35 is to be moved, are stored.

In this way, when the memory 111 is provided, the control unit 101 maycontrol the driving of the holder driving unit 41 and the track drivingunit 71, based on the coordinate data and the movement speed data forthe movement pattern received through the memory 111, prior to thecoordinate data for the printing pattern received from the patternrecognizing unit 105.

That is, the memory 111 provides the plane coordinate data and themovement speed data for the movement pattern, in which the hand holder35 stored in the memory 111 is to be moved, to the control unit 101.

The control unit 101 controls movement of the hand holder 35, bycontrolling the rotational speeds and the directions of the motor 51 fora holder and the motor 81 for a track, based on the coordinate data andthe movement speed data for the movement pattern provided through thememory 111.

In this way, as the memory 111 is provided, rehabilitation training maybe performed by selectively receiving a movement pattern through thememory 111 according to the characteristics of the user and changing theangles of the joints in a preset direction based on the coordinate dataand the movement speed data for the movement pattern stored in thememory 111 while a hand of the user is held in the hand holder 35.

Further, the rehabilitation training unit 10 according to the embodimentof the inventive concept may further include a communication module thatis provided in the housing 67 for a holder to receive plane coordinatedata and movement speed data for the movement pattern, in which the handholder 35 is to be moved, from an external device.

In this way, when the communication module 115 is provided, the controlunit 101 may control the driving of the holder driving unit 41 and thetrack driving unit 71, based on the coordinate data and the movementspeed data for the movement pattern received through the communicationmodule 115, prior to the coordinate data for the printing patternreceived from the pattern recognizing unit 105.

That is, the control unit 101 controls movement of the hand holder 35,by controlling the rotational speeds and the directions of the motor 51for a holder and the motor 81 for a track, based on the coordinate dataand the movement speed data for the movement pattern provided throughthe communication module 115.

In this way, as the communication module 115 is provided, rehabilitationtraining may be performed by transmitting a control signal for themovement pattern according to the characteristics of the user to thecontrol unit 101 through the communication module 115 and changing theangles of the joints in various directions based on the coordinate dataand the movement speed data for the movement pattern received throughthe communication module while a hand of the user is held in the handholder 35.

Here, when the communication module 115 is provided, the control unit101 may control the driving of the holder driving unit 41 and the trackdriving unit 71 according to the coordinate data and the movement speeddata for the movement pattern received through the communication module115, prior to the coordinate data and the movement data for the printingpattern received from the pattern recognizing unit 105 or the coordinatedata and the movement speed data for the movement pattern providedthrough the memory 111.

In this way, according to the inventive concept, rehabilitation trainingmay be performed by movably arranging the second track in the pair offirst tracks arranged in parallel at an interval, reciprocating the handholder in which a hand of the user is held along the second track andreciprocating the second track along the pair of first tracks at thesame time to move the hand holder according to the characteristics ofthe user I various patterns, and changing the angles of the joints of awrist and a shoulder of the user.

According to the inventive concept, rehabilitation training may beperformed by moving a hand holder in which a hand of the user is heldaccording to characteristics of the user in various patterns andchanging the angles of the joints of a wrist and a shoulder of the user.Further, rehabilitation training may be performed by moving a handholder in a desired direction by using fine muscular forces and changingthe angles of the joints of a wrist and a shoulder of the user.

While the inventive concept has been described with reference toexemplary embodiments, it will be apparent to those skilled in the artthat various changes and modifications may be made without departingfrom the spirit and scope of the inventive concept. Therefore, it shouldbe understood that the above embodiments are not limiting, butillustrative.

What is claimed is:
 1. A rehabilitation training apparatus, comprising:a pair of first tracks that are arranged in parallel at an interval; asecond track that is perpendicular to the pair of first tracks and ismovably connected to the pair of first tracks; a hand holder that ismovably provided in the second track and on which a hand of a user isadapted to be held; a holder driving unit that reciprocally moves thehand holder along the second track and comprises a holder motor; a trackdriving unit that reciprocally moves the second track along the pair offirst tracks and comprises a track motor; and a control unit controlsthe hand holder to move in a curved manner, by controlling the trackmotor and the holder motor to have different rotation speeds from eachother.
 2. The rehabilitation training apparatus of claim 1, wherein thecontrol unit controls driving of the holder driving unit and the trackdriving unit such that the hand holder is moved along a plane defined bythe pair of first tracks and the second track.
 3. The rehabilitationtraining apparatus of claim 2, further comprising: a pattern recognizingunit that recognizes coordinate data for a printing pattern to beprovided on the plane defined by the pair of first tracks and the secondtrack, wherein the control unit controls the driving of the holderdriving unit and the track driving unit such that the hand holder ismoved, based on the coordinate data for the printing pattern recognizedby the pattern recognizing unit.
 4. The rehabilitation trainingapparatus of claim 3, further comprising: a memory in which planecoordinate data and movement speed data for a movement pattern, in whichthe hand holder is to be moved, are stored, wherein the control unitcontrols the driving of the holder driving unit and the track drivingunit, based on the coordinate data and the movement speed data for themovement pattern received through the memory, prior to the coordinatedata for the printing pattern received from the pattern recognizingunit.
 5. The rehabilitation training apparatus of claim 3, furthercomprising: a communication module that receives plane coordinate dataand movement speed data for a movement pattern, in which the hand holderis to be moved, from an external device, wherein the control unitcontrols the driving of the holder driving unit and the track drivingunit, based on the coordinate data and the movement speed data for themovement pattern received through the communication module, prior to thecoordinate data for the printing pattern received from the patternrecognizing unit.
 6. The rehabilitation training apparatus of claim 3,wherein the pattern recognizing unit comprises at least one of anoptical recognition sensor and a photo sensor.